CN108284887A - A kind of drag-line climbing robot and drag-line hold control method tightly - Google Patents

Abstract

The invention is applicable to the technical field of intelligent robots, and provides a cable climbing robot and a cable-clamping control method. The method includes: setting the working mode of the rotary motor to the rotary position mode, driving the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, the rotation of the output shaft of the rotary motor drives the clamping device to perform a clamping action, and detecting The relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque, if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the rotating electrical machine If the current torque is not less than the target torque, the working mode of the rotating electrical machine is switched to the constant torque mode. Compared with the prior art, the cable climbing robot in the present invention can save the pressure sensor and the distance measuring sensor by presetting the target position and target torque, thereby reducing the production cost of the cable climbing robot.

Description

A cable-climbing robot and a cable-clamping control method

technical field

The invention belongs to the technical field of intelligent robots, and in particular relates to a cable climbing robot and a method for controlling the gripping of cables.

Background technique

The development of bridge cable climbing robots was relatively early. It originated in the late 1980s. In the early days, some research institutions in the United States and Europe successively developed bridge cable climbing robots, but there are not many cases of real application in the industry. For the status quo of robot research in my country, bridge robots are still relatively young, especially bridge cable climbing robots, which not only work in harsh and complex environments, but also need to consider the high safety and reliability of long-distance operations, power supply and remote communication. Therefore, no matter in technology or application, the research and application of bridge cable climbing robot is undoubtedly a great challenge.

The bridge cable climbing robot is a complex mechatronics system, involving many fields such as mechanical structure, automatic control, communication, multi-sensor information fusion, and power supply technology. At present, most bridge cable climbing robots use wheeled climbing robots, which use multiple wheels to hold tightly and roll against the surface of the cable. In order to prevent the robot from slipping, the wheels need to be aligned The surface of the cable exerts a lot of pressure, and when the robot moves, the wheels and the surface of the cable generate a large sliding friction force, which is easy to damage the surface of the cable. At the same time, the existing cable climbing robots need pressure sensors and ranging sensors to assist the climbing of the robot, which makes the production cost of the robot very high.

Contents of the invention

The invention provides a cable-climbing robot and a cable-clamping control method, aiming at solving the problems that the existing cable-climbing robot is easy to damage the surface of the cable and the production cost of the cable-climbing robot is high.

The present invention provides a method for controlling the gripping of a cable for a cable climbing robot, the method comprising:

Set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clasping device to perform a clasping action ;

Detecting the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and a target torque, the target torque being the amount that the clamping device can hold The minimum torque of the tension cable;

If it is detected that the current rotational position of the rotary electric machine is equal to the first preset rotational position, and the current torque of the rotary electric machine is not less than the target torque, switching the working mode of the rotary electric machine to constant torque mode, and set the torque in the constant torque mode as the target torque.

Further, the method also includes:

If it is detected that the current rotational position of the rotary electric machine is equal to the first preset rotational position, and the current torque of the rotary electric machine is smaller than the target torque, then the second preset rotational position is used as the target position to drive the The rotary motor rotates, and the second preset rotation position is greater than the first preset rotation position;

detecting the relationship between the current torque of the rotating electric machine and the target torque;

If it is detected that the current torque of the rotating electrical machine is not less than the target torque, the operating mode of the rotating electrical machine is switched to the constant torque mode, and the torque of the constant torque mode is set to the the target torque.

Further, the method also includes:

If it is detected that the current rotational position of the rotating electrical machine is less than the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then detecting whether the rotational speed of the rotating electrical machine is within a preset within the speed range;

If it is detected that the rotating speed of the rotating electrical machine is within the range of the preset rotating speed interval, the working mode of the rotating electrical machine is switched to the constant torque mode, and the torque of the constant torque mode is set to the target torque.

Further, the cable climbing robot includes a telescopic movement mechanism, an upper gripping mechanism and a lower gripping mechanism, the upper gripping mechanism is connected with the lower gripping mechanism through the telescopic movement mechanism, and the upper gripping mechanism The tightening mechanism and the lower gripping mechanism both include two rotating motors and two circumferentially distributed gripping devices, the rotating motors include a left rotating motor and a right rotating motor, The tightening device and the right side tightening device, the left side rotating motor controls the left side tightening device, and the right side rotating motor controls the right side tightening device;

The method also includes:

After the working mode of the rotating electrical machine is switched to the constant torque mode, record the current rotational position of the rotating electrical machine;

If the number of times the recorded current rotational position of the rotary motor is not equal to the first preset rotational position reaches the preset number of times, and the current rotational position of the left rotary motor recorded each time is different from that of the right rotary motor If the current rotation positions of the rotating motors are equal, the average value of the current rotation positions of the rotating motors is calculated each time, which is calculated as the average rotation position;

calculating the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position each time;

If the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position is smaller than a preset value each time, the first preset rotational position is updated by using the average rotational position.

Further, the method also includes:

When the distance between the current rotational position of the rotating electrical machine and the first preset rotational position is equal to the target distance, reduce the rotational speed of the rotating electrical machine from the current rotational speed at a constant speed until the current rotational position of the rotating electrical machine reaches the set value. When the first preset rotation position is reached, the rotation speed of the rotating electrical machine is reduced to zero.

The present invention also provides a cable-climbing robot, the cable-climbing robot comprising:

The driving module is used to set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the The clasping device carries out the clasping action;

A detection module, configured to detect the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and a target torque, where the target torque is the The holding device can hold the minimum torque of the cable;

A switching module, configured to switch the rotation position of the rotation motor to The working mode is switched to a constant torque mode, and the torque in the constant torque mode is set as the target torque.

Further, the drive module is further configured to: if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is less than the target torque, then The second preset rotation position is used as a target position to drive the rotation motor to rotate, and the second preset rotation position is greater than the first preset rotation position;

The detection module is also used to detect the relationship between the current torque of the rotating electrical machine and the target torque;

The switching module is further configured to switch the working mode of the rotating electrical machine to a constant torque mode if it is detected that the current torque of the rotating electrical machine is not less than the target torque, and set the constant torque The mode torque is set to the target torque.

Further, the detection module is further configured to: if it is detected that the current rotational position of the rotating electrical machine is smaller than the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then Detecting whether the rotational speed of the rotating electrical machine is within the range of a preset rotational speed interval;

The switching module is also used to switch the operating mode of the rotating electrical machine to a constant torque mode if it is detected that the rotating speed of the rotating electrical machine is within the range of a preset rotating speed range, and switch the constant torque mode to the constant torque mode. The torque is set as the target torque.

Further, the cable climbing robot includes a telescopic movement mechanism, an upper gripping mechanism and a lower gripping mechanism, the upper gripping mechanism is connected with the lower gripping mechanism through the telescopic movement mechanism, and the upper gripping mechanism The tightening mechanism and the lower gripping mechanism both include two rotating motors and two circumferentially distributed gripping devices, the rotating motors include a left rotating motor and a right rotating motor, The tightening device and the right side tightening device, the left side rotating motor controls the left side tightening device, and the right side rotating motor controls the right side tightening device;

The cable climbing robot also includes:

A recording module, configured to record the current rotational position of the rotating electrical machine after the operating mode of the rotating electrical machine is switched to the constant torque mode;

Calculation module, for if the recorded current rotational position of the rotary motor is not equal to the first preset rotational position for a preset number of times, and the current rotational position of the left rotary motor recorded each time is the same as the first preset rotational position If the current rotational positions of the rotating motors on the right side are equal, then calculate the average value of the current rotational positions of the rotating motors each time, and calculate it as the average rotational position;

The calculation module is also used to calculate the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position;

An updating module, configured to use the average rotational position to update the first preset rotational position if the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position is smaller than a preset value each time .

Further, the driving module is further configured to reduce the rotation speed of the rotation motor from the current rotation speed at a constant speed when the distance between the current rotation position of the rotation motor and the first preset rotation position is equal to the target distance, Until the current rotational position of the rotary electric machine reaches the first preset rotational position, the rotational speed of the rotary electric machine is reduced to zero.

The cable climbing robot and the cable-clamping control method provided by the present invention set the working mode of the rotary motor to the rotary position mode, and use the first preset rotary position as the target position to drive the output shaft of the rotary motor to rotate, and the rotary motor The rotation of the output shaft drives the clamping device to carry out the clamping action, and detects the relationship between the current rotation position of the rotating motor and the first preset rotation position, as well as the relationship between the current torque of the rotating motor and the target torque, and the target torque is the clamping action. The device can hold the minimum torque of the cable. If it is detected that the current rotation position of the rotary motor is equal to the first preset rotary position, and the current torque of the rotary motor is not less than the target torque, the working mode of the rotary motor is switched to Constant torque mode, and set the torque in constant torque mode as the target torque. Compared with the prior art, the cable-climbing robot in the present invention adopts a climbing method with a tight-holding mechanism, which avoids the problem that the surface of the cable is easily worn by the traditional wheeled climbing robot. The cable climbing robot can save the pressure sensor and the distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the cable climbing robot. At the same time, the cable climbing robot in the present invention will quickly switch the rotating motor to the constant torque mode after determining that the holding device has tightly held the cable, and set the torque to the minimum torque that can hold the cable tightly. , can minimize the extrusion of the cable by the holding mechanism, avoid extrusion damage to the surface of the cable, and can also reduce the power consumption of the cable climbing robot.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only are some embodiments of the present invention.

Fig. 1 is the schematic diagram that the cable climbing robot provided by the embodiment of the present invention is fixed on the cable;

Fig. 2 is a schematic diagram of the upper or lower gripping mechanism in Fig. 1;

Fig. 3 is a schematic diagram of the implementation flow of the cable-clamping control method of the cable-climbing robot provided in the first embodiment of the present invention;

Fig. 4 is a schematic diagram of the implementation flow of the cable-clamping control method of the cable-climbing robot provided in the second embodiment of the present invention;

5 is a schematic structural view of a cable climbing robot provided in a third embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a cable climbing robot provided by a fourth embodiment of the present invention.

Detailed ways

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1, a cable climbing robot provided by the embodiment of the present invention mainly includes an upper gripping mechanism 10, a lower gripping mechanism 20 and a telescopic moving mechanism 30, and the upper gripping mechanism 10 is connected with the telescoping moving mechanism 30. The lower holding mechanism 20 is connected. Referring to Fig. 2, the upper gripping mechanism 10 and the lower gripping mechanism 20 all include two rotating motors and two circumferentially distributed gripping devices, and the rotating motors include a left rotating motor (not shown) and a right The rotating motor 12, the holding device includes a left holding device 21 and a right holding device 22, the left rotating motor controls the left holding device 21, and the right rotating motor 12 controls the right holding device 22.

The movement mode of the robot in this embodiment is based on the peristaltic movement of worms in nature. In order to make the climbing principle of the robot clearer, a detailed analysis is given below in conjunction with the climbing action of the robot:

The first step: all the clamping devices 2 of the upper clamping mechanism 10 and the lower clamping mechanism 20 tightly clamp the drag cables 200;

Step 2: the tightening device 2 of the upper tightening mechanism 10 is loosened, the telescopic moving mechanism 30 is extended, and the upper tightening mechanism 10 is pushed to move upward;

The third step: the tightening device 2 of the upper tightening mechanism 10 is tightened, the tightening device 2 of the lower tightening mechanism 20 is loosened, the telescopic moving mechanism 30 shrinks, and the lower tightening mechanism 20 is pulled to move upward;

Step 4: The tightening device 2 of the lower tightening mechanism 10 is tightened, the tightening device 2 of the upper tightening mechanism 10 is loosened, the telescopic moving mechanism 30 is extended, and the upper tightening mechanism 10 is pushed to move upward; the cycle is repeated like this , to achieve movement.

Please refer to Fig. 3. Fig. 3 is a schematic diagram of the realization flow chart of the cable clasping control method of the cable climbing robot provided in the first embodiment of the present invention. The cable clasping control method can be applied to the cable shown in Fig. 1 In the climbing robot, the cable gripping control method of the cable climbing robot shown in Figure 3 mainly includes the following steps:

S101. Set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clamping device to perform a clamping action;

After the rotary motor is set to the rotary position mode, the target position must be set first, then the output shaft of the rotary motor starts to rotate with the target position as the rotation end position, and the output shaft of the rotary motor stops rotating when it rotates to the target position. The rotation of the output shaft of the rotary motor drives the clamping device to carry out the clamping action, and the end position of the clamping action corresponds to the target position of the rotary motor rotation, that is, if the target position set each time is the same, the clamping action of each clamping action The end position is also the same.

S102. Detecting the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque;

The relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque are detected in real time.

The relationship between the current rotational position and the first preset rotational position of the rotating electrical machine includes: the current rotational position is smaller than the first preset rotational position; the current rotational position is equal to the first preset rotational position; the current rotational position is greater than the first preset rotational position. The relationship between the current torque of the rotating electrical machine and the target torque includes: the current torque is less than the target torque; the current torque is not less than the target torque.

Wherein, the target torque of the rotating motor is set by the user or measured by the cable climbing robot. In this embodiment, the minimum torque at which the clamping device can clamp the cable is selected as the target torque.

S103. If it is detected that the current rotational position of the rotary electric machine is equal to the first preset rotational position, and the current torque of the rotary electric machine is not less than the target torque, switch the working mode of the rotary electric machine to the constant torque mode, and set the constant torque The torque in the torque mode is set as the target torque.

After it is determined that the holding device has tightly held the cable, it will quickly switch the rotating motor to the constant torque mode, and set the torque to the minimum torque that can hold the cable tightly. The extrusion is minimized to avoid extrusion damage to the surface of the cable, and at the same time, the power consumption of the cable climbing robot can be reduced.

In the cable-clamping control method of the cable-climbing robot provided by the present invention, by setting the working mode of the rotary motor to the rotary position mode, the output shaft of the rotary motor is driven to rotate with the first preset rotary position as the target position, and the rotary motor The rotation of the output shaft drives the clamping device to carry out the clamping action, and detects the relationship between the current rotation position of the rotating motor and the first preset rotation position, as well as the relationship between the current torque of the rotating motor and the target torque, and the target torque is the clamping action. The device can hold the minimum torque of the cable. If it is detected that the current rotation position of the rotary motor is equal to the first preset rotary position, and the current torque of the rotary motor is not less than the target torque, the working mode of the rotary motor is switched to The constant torque mode, and the torque of the constant torque mode is set as the target torque. Compared with the prior art, the cable climbing robot in the present invention adopts the climbing mode of the clamping mechanism, which avoids the Traditional wheeled climbing robots are prone to wear and tear on the cable surface. The cable climbing robot can save the pressure sensor and the distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the cable climbing robot. At the same time, the cable climbing robot in the present invention will quickly switch the rotating motor to the constant torque mode after determining that the holding device has tightly held the cable, and set the torque to the minimum torque that can hold the cable tightly. , can minimize the extrusion of the cable by the holding mechanism, avoid extrusion damage to the surface of the cable, and can also reduce the power consumption of the cable climbing robot.

Please refer to FIG. 4. FIG. 4 is a schematic diagram of the implementation flow of the cable-clamping control method of the cable-climbing robot provided in the second embodiment of the present invention. The cable-clamping control method can be applied to the cable-clamping control method shown in FIG. In the climbing robot, the cable gripping control method of the cable climbing robot shown in Figure 4 mainly includes the following steps:

S201. Set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clamping device to perform a clamping action;

After the rotary motor is set to the rotary position mode, the target position must be set first, then the output shaft of the rotary motor starts to rotate with the target position as the rotation end position, and the output shaft of the rotary motor stops rotating when it rotates to the target position. The rotation of the output shaft of the rotary motor drives the clamping device to carry out the clamping action, and the end position of the clamping action corresponds to the target position of the rotary motor rotation, that is, if the target position set each time is the same, the clamping action of each clamping action The end position is also the same.

S202. Detect the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque;

The relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque are detected in real time.

The relationship between the current rotational position and the first preset rotational position of the rotating electrical machine includes: the current rotational position is smaller than the first preset rotational position; the current rotational position is equal to the first preset rotational position; the current rotational position is greater than the first preset rotational position. The relationship between the current torque of the rotating electrical machine and the target torque includes: the current torque is less than the target torque; the current torque is not less than the target torque.

Wherein, the target torque of the rotating motor is set by the user or measured by the cable climbing robot. In this embodiment, the minimum torque at which the clamping device can clamp the cable is selected as the target torque.

If it is detected that the current rotation position of the rotary motor is equal to the first preset rotation position, and the current torque of the rotary motor is not less than the target torque, then perform step S203; if it is detected that the current rotation position of the rotary motor is equal to the first preset rotation position position, and the current torque of the rotating electrical machine is less than the target torque, then execute step S204; if it is detected that the current rotational position of the rotating electrical machine is less than the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then Execute step S207.

S203. Switch the working mode of the rotating electrical machine to the constant torque mode, and set the torque in the constant torque mode as the target torque;

If it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then the working mode of the rotating electrical machine is set to the constant torque mode, and the constant torque mode is set to The torque is set as the target torque.

After it is determined that the holding device has tightly held the cable, it will quickly switch the rotating motor to the constant torque mode, and set the torque to the minimum torque that can hold the cable tightly. The extrusion is minimized to avoid extrusion damage to the surface of the cable, and at the same time, the power consumption of the cable climbing robot can be reduced.

S204. Drive the rotating motor to rotate with the second preset rotation position as the target position, the second preset rotation position being greater than the first preset rotation position;

If it is detected that the current rotation position of the rotary motor is equal to the first preset rotation position, and the current torque of the rotary motor is less than the target torque, then the second preset rotation position is used as the target position to drive the rotary motor to rotate, and the second preset rotation The position is greater than the first preset rotational position.

It can be understood that the second preset rotation position here is slightly larger than the first preset rotation position, and the difference between the second preset rotation position and the first preset rotation position can be counted as an incremental position. If the rotary motor rotates to the second preset rotation position, and the current torque of the rotary motor has not yet reached the target torque, continue to increase the incremental position on the basis of the second preset rotation position, and drive the rotary motor to rotate as the target position , until the current torque of the rotating motor reaches the target torque.

S205. Detecting the relationship between the current torque of the rotating electrical machine and the target torque;

S206. If it is detected that the current torque of the rotating electrical machine is not less than the target torque, switch the working mode of the rotating electrical machine to the constant torque mode, and set the torque in the constant torque mode as the target torque;

S207. Detect whether the rotational speed of the rotating electrical machine is within the range of the preset rotational speed range;

If it is detected that the current rotational position of the rotating electrical machine is less than the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then detecting whether the rotational speed of the rotating electrical machine is within the range of the preset rotational speed range;

In this embodiment, the preset rotation speed interval is an interval close to zero, and when the rotation speed of the rotating electrical machine is within the range of the preset rotation speed interval, it is considered that the tightening device has been tightened.

S208. If it is detected that the rotating speed of the rotating electrical machine is within the range of the preset rotating speed interval, switch the working mode of the rotating electrical machine to the constant torque mode, and set the torque in the constant torque mode as the target torque.

The method also includes:

After the working mode of the rotating electrical machine is switched to the constant torque mode, record the current rotational position of the rotating electrical machine; The current rotational position of the left rotating motor is equal to the current rotational position of the right rotating motor, then calculate the average value of the current rotational position of each rotating motor, which is counted as the average rotational position; calculate the current rotational position of each rotating motor and The absolute value of the difference between the average rotation position; if the absolute value of the difference between the current rotation position and the average rotation position of each rotating motor is smaller than the preset value, the first preset rotation position is updated by using the average rotation position.

The method also includes:

When the distance between the current rotation position of the rotary motor and the first preset rotation position is equal to the target distance, the rotation speed of the rotation motor is reduced from the current rotation speed at a constant speed until the current rotation position of the rotation motor reaches the first preset rotation position, and the rotation The speed of the motor is reduced to zero speed.

This step is to design a smooth motion curve. The purpose is to reduce the speed of the rotating motor when the clamping device approaches the target position, thereby reducing the speed of the clamping device's clamping action. The thickness here is thicker than expected, and the holding device will touch the obstacle or the cable before the expected end position of the holding action, so that the cable and the holding device will not be damaged due to the fast speed of the holding action .

The cable-clamping control method of the cable-climbing robot provided in this embodiment can make the cable-climbing robot adapt well to the change of the cable diameter and the protruding obstacles to a certain extent, so that the system structure is simple and reliable. high.

In the cable-clamping control method of the cable-climbing robot provided by the present invention, by setting the working mode of the rotary motor to the rotary position mode, the output shaft of the rotary motor is driven to rotate with the first preset rotary position as the target position, and the rotary motor The rotation of the output shaft drives the clamping device to carry out the clamping action, and detects the relationship between the current rotation position of the rotating motor and the first preset rotation position, as well as the relationship between the current torque of the rotating motor and the target torque, and the target torque is the clamping action. The device can hold the minimum torque of the cable. If it is detected that the current rotation position of the rotary motor is equal to the first preset rotary position, and the current torque of the rotary motor is not less than the target torque, the working mode of the rotary motor is switched to The constant torque mode, and the torque of the constant torque mode is set as the target torque. Compared with the prior art, the cable climbing robot in the present invention adopts the climbing mode of the clamping mechanism, which avoids the Traditional wheeled climbing robots are prone to wear and tear on the cable surface. The cable climbing robot can save the pressure sensor and the distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the cable climbing robot. At the same time, the cable climbing robot in the present invention will quickly switch the rotating motor to the constant torque mode after determining that the holding device has tightly held the cable, and set the torque to the minimum torque that can hold the cable tightly. , can minimize the extrusion of the cable by the holding mechanism, avoid extrusion damage to the surface of the cable, and can also reduce the power consumption of the cable climbing robot.

Please refer to FIG. 5 . FIG. 5 is a schematic structural diagram of the cable climbing robot provided by the third embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

The cable climbing robot illustrated in FIG. 5 includes: a driving module 301 , a detection module 302 and a switching module 303 .

The driving module 301 is used to set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clamping device to perform the clamping action .

The detection module 302 is configured to detect the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque.

A switching module 303, configured to switch the operating mode of the rotating electrical machine to a constant torque mode if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, And set the torque in the constant torque mode as the target torque.

For the specific process of each of the above-mentioned modules realizing their respective functions, please refer to the related content of the cable-clamping control method of the cable-climbing robot provided in the above-mentioned first embodiment, which will not be repeated here.

In the cable climbing robot provided by the present invention, by setting the working mode of the rotating motor to the rotating position mode, the output shaft of the rotating motor is driven to rotate with the first preset rotating position as the target position, and the rotation of the output shaft of the rotating motor drives the holding The device performs a tightening action to detect the relationship between the current rotation position of the rotating motor and the first preset rotation position, as well as the relationship between the current torque of the rotating motor and the target torque. Minimum torque, if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then the working mode of the rotating electrical machine is switched to the constant torque mode, and the The torque in the constant torque mode is set as the target torque. Compared with the prior art, the cable climbing robot in the present invention adopts the climbing mode of the clamping mechanism, which avoids the traditional wheeled climbing robot. The problem of easy to wear the surface of the cable. The cable climbing robot can save the pressure sensor and the distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the cable climbing robot. At the same time, the cable climbing robot in the present invention will quickly switch the rotating motor to the constant torque mode after determining that the holding device has tightly held the cable, and set the torque to the minimum torque that can hold the cable tightly. , can minimize the extrusion of the cable by the holding mechanism, avoid extrusion damage to the surface of the cable, and can also reduce the power consumption of the cable climbing robot.

Please refer to FIG. 6 , which is a schematic diagram of the structure of the cable climbing robot provided by the fourth embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown. The cable climbing robot illustrated in FIG. 6 includes: a drive module 401 , a detection module 402 , a switch module 403 , a record module 404 , a calculation module 405 and an update module 406 .

The driving module 401 is used to set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clamping device to perform the clamping action .

The detection module 402 is configured to detect the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and the target torque.

A switching module 403, configured to switch the working mode of the rotating electrical machine to a constant torque mode if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, And set the torque in the constant torque mode as the target torque.

The driving module 401 is further configured to drive the rotating electrical machine with the second preset rotating position as the target position if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position and the current torque of the rotating electrical machine is less than the target torque rotation, the second preset rotation position is greater than the first preset rotation position.

The detection module 402 is also used to detect the relationship between the current torque of the rotating electrical machine and the target torque;

The switching module 403 is also used to switch the operating mode of the rotating electrical machine to the constant torque mode if it is detected that the current torque of the rotating electrical machine is not less than the target torque, and set the torque of the constant torque mode as the target torque. moment.

The detection module 402 is also used to detect whether the rotation speed of the rotation motor is within the preset rotation speed interval if it is detected that the current rotation position of the rotation motor is less than the first preset rotation position and the current torque of the rotation motor is not less than the target torque. within range.

The switching module 403 is also used to switch the operating mode of the rotating electrical machine to the constant torque mode and set the torque in the constant torque mode as the target if it is detected that the rotating speed of the rotating electrical machine is within the range of the preset rotating speed range torque.

The recording module 404 is configured to record the current rotation position of the rotating electrical machine when the working mode of the rotating electrical machine is set to the constant torque mode.

Calculation module 405, used for if the recorded current rotational position of the rotating motor is not equal to the first preset rotational position for a preset number of times, and the current rotational position of the left rotating motor recorded each time is different from the current rotational position of the right rotating motor If the rotation positions are equal, the average value of the current rotation positions of the motors for each rotation is calculated as the average rotation position.

The calculation module 405 is also used to calculate the absolute value of the difference between the current rotational position and the average rotational position of each rotating electrical machine.

The updating module 406 is configured to use the average rotational position to update the first preset rotational position if the absolute value of the difference between the current rotational position and the average rotational position of each rotating motor is smaller than a preset value.

The driving module 401 is further configured to reduce the rotation speed of the rotation motor from the current rotation speed at a constant speed when the distance between the current rotation position of the rotation motor and the first preset rotation position is equal to the target distance, until the current rotation position of the rotation motor reaches the first preset position. When the rotary position is preset, the rotation speed of the rotary motor is reduced to zero speed.

For the specific process of each of the above-mentioned modules realizing their respective functions, please refer to the related content of the cable-clamping control method of the cable-climbing robot provided in the above-mentioned second embodiment, which will not be repeated here.

In the cable climbing robot provided by the present invention, by setting the working mode of the rotating motor to the rotating position mode, the output shaft of the rotating motor is driven to rotate with the first preset rotating position as the target position, and the rotation of the output shaft of the rotating motor drives the holding The device performs a tightening action to detect the relationship between the current rotation position of the rotating motor and the first preset rotation position, as well as the relationship between the current torque of the rotating motor and the target torque. Minimum torque, if it is detected that the current rotational position of the rotating electrical machine is equal to the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then the working mode of the rotating electrical machine is switched to the constant torque mode, and the The torque in the constant torque mode is set as the target torque. Compared with the prior art, the cable climbing robot in the present invention adopts the climbing mode of the clamping mechanism, which avoids the traditional wheeled climbing robot. The problem of easy to wear the surface of the cable. The cable climbing robot can save the pressure sensor and the distance measuring sensor by presetting the target position and the target torque, thereby reducing the production cost of the cable climbing robot. At the same time, the cable climbing robot in the present invention will quickly switch the rotating motor to the constant torque mode after determining that the holding device has tightly held the cable, and set the torque to the minimum torque that can hold the cable tightly. , can minimize the extrusion of the cable by the holding mechanism, avoid extrusion damage to the surface of the cable, and can also reduce the power consumption of the cable climbing robot.

In the multiple embodiments provided in this application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication link shown or discussed may be through some interfaces, and the indirect coupling or communication link of devices or modules may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The above is the description of the cable climbing robot and the cable gripping control method provided by the present invention. For those skilled in the art, according to the idea of the embodiment of the present invention, there will be changes in the specific implementation and application scope. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. A cable-clamping control method for a cable-climbing robot, characterized in that the method comprises: Set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the clasping device to perform a clasping action ; Detecting the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and a target torque, the target torque being the amount that the clamping device can hold The minimum torque of the tension cable; If it is detected that the current rotational position of the rotary electric machine is equal to the first preset rotational position, and the current torque of the rotary electric machine is not less than the target torque, switching the working mode of the rotary electric machine to constant torque mode, and set the torque in the constant torque mode as the target torque. 2. The method according to claim 1, characterized in that the method further comprises: If it is detected that the current rotational position of the rotary electric machine is equal to the first preset rotational position, and the current torque of the rotary electric machine is smaller than the target torque, then the second preset rotational position is used as the target position to drive the The rotary motor rotates, and the second preset rotation position is greater than the first preset rotation position; detecting the relationship between the current torque of the rotating electric machine and the target torque; If it is detected that the current torque of the rotating electrical machine is not less than the target torque, the operating mode of the rotating electrical machine is switched to the constant torque mode, and the torque of the constant torque mode is set to the the target torque. 3. The method according to claim 1, characterized in that the method further comprises: If it is detected that the current rotational position of the rotating electrical machine is less than the first preset rotational position, and the current torque of the rotating electrical machine is not less than the target torque, then detecting whether the rotational speed of the rotating electrical machine is within a preset within the speed range; If it is detected that the rotating speed of the rotating electrical machine is within the range of the preset rotating speed interval, the working mode of the rotating electrical machine is switched to the constant torque mode, and the torque of the constant torque mode is set to the target torque. 4. The method according to any one of claims 1 to 3, wherein the cable climbing robot includes a telescopic movement mechanism, an upper gripping mechanism and a lower gripping mechanism, and the upper gripping mechanism passes through the The telescopic moving mechanism is connected with the lower gripping mechanism, the upper gripping mechanism and the lower gripping mechanism both include two rotating motors and two circumferentially distributed gripping devices, the rotating motor includes a left A rotating motor and a right rotating motor, the holding device includes a left holding device and a right holding device, the left rotating motor controls the left holding device, and the right rotating motor controls the Right holding device; The method also includes: After the working mode of the rotating electrical machine is switched to the constant torque mode, record the current rotational position of the rotating electrical machine; If the number of times the recorded current rotational position of the rotary motor is not equal to the first preset rotational position reaches the preset number of times, and the current rotational position of the left rotary motor recorded each time is different from that of the right rotary motor If the current rotation positions of the rotating motors are equal, the average value of the current rotation positions of the rotating motors is calculated each time, which is calculated as the average rotation position; calculating the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position each time; If the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position is smaller than a preset value each time, the first preset rotational position is updated by using the average rotational position. 5. The method according to any one of claims 1 to 3, wherein the method further comprises: When the distance between the current rotational position of the rotating electrical machine and the first preset rotational position is equal to the target distance, reduce the rotational speed of the rotating electrical machine from the current rotational speed at a constant speed until the current rotational position of the rotating electrical machine reaches the set value. When the first preset rotation position is reached, the rotation speed of the rotating electrical machine is reduced to zero. 6. A cable climbing robot, characterized in that the cable climbing robot comprises: The driving module is used to set the working mode of the rotary motor to the rotary position mode, drive the output shaft of the rotary motor to rotate with the first preset rotary position as the target position, and the rotation of the output shaft of the rotary motor drives the The clasping device carries out the clasping action; A detection module, configured to detect the relationship between the current rotational position of the rotating electrical machine and the first preset rotational position, and the relationship between the current torque of the rotating electrical machine and a target torque, where the target torque is the The minimum torque at which the holding device can hold the cable tightly; A switching module, configured to switch the rotation position of the rotation motor to The working mode is switched to a constant torque mode, and the torque in the constant torque mode is set as the target torque. 7. The cable climbing robot according to claim 6, wherein the driving module is further configured to detect that the current rotational position of the rotating motor is equal to the first preset rotational position, and the If the current torque of the rotating electrical machine is less than the target torque, the rotating electrical machine is driven to rotate with a second preset rotational position as the target position, and the second preset rotational position is greater than the first preset rotational position; The detection module is also used to detect the relationship between the current torque of the rotating electrical machine and the target torque; The switching module is further configured to switch the working mode of the rotating electrical machine to a constant torque mode if it is detected that the current torque of the rotating electrical machine is not less than the target torque, and set the constant torque The mode torque is set to the target torque. 8. The cable climbing robot according to claim 6, wherein the detection module is further configured to detect that the current rotational position of the rotating motor is less than the first preset rotational position, and the If the current torque of the rotating electrical machine is not less than the target torque, it is detected whether the rotating speed of the rotating electrical machine is within the range of the preset rotating speed range; The switching module is also used to switch the operating mode of the rotating electrical machine to a constant torque mode if it is detected that the rotating speed of the rotating electrical machine is within the range of a preset rotating speed range, and switch the constant torque mode to the constant torque mode. The torque is set as the target torque. 9. The cable-climbing robot according to any one of claims 6 to 8, characterized in that, the cable-climbing robot comprises a telescopic movement mechanism, an upper holding mechanism and a lower holding mechanism, and the upper holding The tightening mechanism is connected with the lower gripping mechanism through the telescopic moving mechanism, and both the upper gripping mechanism and the lower gripping mechanism include two rotating motors and two circumferentially distributed gripping devices. The motor includes a left rotating motor and a right rotating motor, the holding device includes a left holding device and a right holding device, the left rotating motor controls the left holding device, and the right rotating The motor controls the right side holding device; The cable climbing robot also includes: A recording module, configured to record the current rotational position of the rotating electrical machine after the operating mode of the rotating electrical machine is switched to the constant torque mode; Calculation module, for if the recorded current rotational position of the rotary motor is not equal to the first preset rotational position for a preset number of times, and the current rotational position of the left rotary motor recorded each time is the same as the first preset rotational position If the current rotational positions of the rotating motors on the right side are equal, then calculate the average value of the current rotational positions of the rotating motors each time, and calculate it as the average rotational position; The calculation module is also used to calculate the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position; An updating module, configured to use the average rotational position to update the first preset rotational position if the absolute value of the difference between the current rotational position of the rotating electrical machine and the average rotational position is smaller than a preset value each time . 10. The cable-climbing robot according to any one of claims 6 to 8, characterized in that the drive module is also used for when the current rotation position of the rotation motor is different from the first preset rotation position When the distance is equal to the target distance, the rotating speed of the rotating motor is reduced from the current rotating speed at a constant speed until the current rotating position of the rotating motor reaches the first preset rotating position, and the rotating speed of the rotating motor is reduced to zero speed.